Abstract
The ability of autonomous navigation of the humanoid robot under unknown environment is very important to real-life applications. EKF-SLAM based on the camera recognition and laser detection for humanoid robot NAO is presented in this paper. Camera recognition is used to recognize if the object is a landmark. Because the computational resources needed for the feature-based position estimation are quite expensive, the laser instead of the camera provides the position of the landmark. A fractional order proportional-integral (PI) controller is designed to reduce the derivation of the NAO robot from the desired path during autonomous navigation. Experiments show that the proposed method is valid and reliable for autonomous navigation of the NAO robot under unknown environment.
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Acknowledgments
The work was partly supported by the National Natural Science Foundation of China (Project No. 61773333), and Scholars Studying Abroad Science and Technology Activities of Hebei Province of China (Project No. C201400355), the major project of Science and technology in Hebei Universities (Project No. ZD2016150).
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Wen, S., Sheng, M., Ma, C. et al. Camera Recognition and Laser Detection based on EKF-SLAM in the Autonomous Navigation of Humanoid Robot. J Intell Robot Syst 92, 265–277 (2018). https://doi.org/10.1007/s10846-017-0712-5
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DOI: https://doi.org/10.1007/s10846-017-0712-5